CN114457734A - Multi-degree-of-freedom foldable arm support device for wall surface cleaning - Google Patents
Multi-degree-of-freedom foldable arm support device for wall surface cleaning Download PDFInfo
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- CN114457734A CN114457734A CN202210384328.2A CN202210384328A CN114457734A CN 114457734 A CN114457734 A CN 114457734A CN 202210384328 A CN202210384328 A CN 202210384328A CN 114457734 A CN114457734 A CN 114457734A
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/005—Mobile installations, particularly for upkeeping in situ road or railway furniture, for instance road barricades, traffic signs; Mobile installations particularly for upkeeping tunnel walls
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Abstract
The invention discloses a multi-degree-of-freedom foldable arm support device for wall surface cleaning, which comprises a knuckle arm, an amplitude variation mechanism, a guide rail, a slide block, a lifting oil cylinder, an arm support reversing mechanism and a cleaning machine tool, wherein the knuckle arm is connected with the amplitude variation mechanism; the bottom of the knuckle arm is connected with the arm support reversing mechanism, the lifting oil cylinder is connected between the arm support reversing mechanism and the knuckle arm, and the knuckle arm is driven by the lifting oil cylinder to perform attitude adjustment; one end of the amplitude variation mechanism is connected with the knuckle arm, the other end of the amplitude variation mechanism is connected with the cleaning machine, and the cleaning machine realizes angle adjustment through the amplitude variation mechanism; the sliding block is arranged on the guide rail and can horizontally slide on the guide rail; the arm frame reversing mechanism is arranged on the sliding block, and under the action of the arm frame reversing mechanism, the angle adjustment of the cleaning machine on the horizontal plane is realized. The invention can realize the accurate amplitude variation of the cleaning component to ensure that the cleaning component can accurately reach the part to be cleaned, and the high-efficiency and reliable unfolding cleaning operation is realized.
Description
Technical Field
The invention discloses a multi-degree-of-freedom foldable arm support device for wall surface cleaning, and belongs to the technical field of municipal cleaning equipment.
Background
Along with the increasing improvement of the living environment of people, the cleaning and maintenance work of the side walls of tunnels, sound insulation screens and other roads in cities is more and more emphasized. As is known, the cleaning and maintenance of the tunnel inner wall in China still stay at the manual operation level at present. Basically, the cleaning is carried out by a cleaner with the help of a simple cleaning tool, so that the efficiency is low, and the personal safety of operators is threatened by vehicles running at high speed in the tunnel. The tunnel is often closed, which also has a certain influence on road traffic. Therefore, the cleaning by adopting professional equipment is a necessary trend of a tunnel wall cleaning mode.
Disclosure of Invention
Aiming at the cleaning requirements, the invention designs the multi-degree-of-freedom foldable arm support device for wall surface cleaning, and the device can realize accurate amplitude variation of the cleaning part so as to ensure that the cleaning part can accurately reach the part to be cleaned and perform efficient and reliable unfolding cleaning operation. And the space occupied by the unfolding operation is small, the cleaning of the left and right side wall surfaces can be realized under the condition that the driving direction of the vehicle is not changed, and the influence on the normal traffic of the road is reduced.
In order to achieve the purpose, the invention is realized according to the following technical scheme:
a multi-degree-of-freedom foldable arm support device for wall surface cleaning comprises a knuckle arm, an amplitude variation mechanism, a guide rail, a slide block, a lifting oil cylinder, an arm support reversing mechanism and a cleaning machine tool; the bottom of the knuckle arm is connected with the arm support reversing mechanism, the lifting oil cylinder is connected between the arm support reversing mechanism and the knuckle arm, and the knuckle arm is driven by the lifting oil cylinder to perform attitude adjustment; one end of the amplitude variation mechanism is connected with the knuckle arm, the other end of the amplitude variation mechanism is connected with the cleaning machine, and the cleaning machine realizes angle adjustment through the amplitude variation mechanism; the sliding block is arranged on the guide rail and can horizontally slide on the guide rail; the arm frame reversing mechanism is arranged on the sliding block, and under the action of the arm frame reversing mechanism, the angle adjustment of the cleaning machine on the horizontal plane is realized.
The specific scheme is as follows: the joint arm consists of a first joint arm and a second joint arm, and the lifting oil cylinder consists of a lifting oil cylinder I and a lifting oil cylinder II; the bottom of the first section of arm is connected with the arm frame reversing mechanism, the lifting oil cylinder I is connected between the arm frame reversing mechanism and the first section of arm, the bottom of the second section of arm is connected with the top of the first section of arm, the lifting oil cylinder II is connected between the first section of arm and the second section of arm, and the first section of arm and the second section of arm are driven by the lifting oil cylinder I and the lifting oil cylinder II to perform posture adjustment; one end of the amplitude variation mechanism is connected with the two-section arm.
The specific scheme is as follows: the arm support reversing mechanism comprises a swinging arm, a shaft, a main driving oil cylinder and an auxiliary driving oil cylinder; the swing arm is connected with the knuckle arm and is connected with the sliding block through a shaft; and the main driving oil cylinder and the auxiliary driving oil cylinder are respectively connected between the swing arm and the sliding block, and when the main driving oil cylinder moves to the mechanism dead point position, power output is continuously carried out through the auxiliary driving oil cylinder.
Further scheme: the shaft is provided with an angle encoder for detecting the rotation angle of the swinging arm; the angle encoder is electrically connected with the controller, the controller is electrically connected with the main driving oil cylinder and the auxiliary driving oil cylinder respectively, and the angle encoder transmits the detected swing angle information to the controller so as to control the action sequence of the oil cylinders.
The specific scheme is as follows: when the controller is set, recording the mechanism dead point position angle, and when the angle encoder detects the mechanism dead point position, controlling the main driving oil cylinder to stop power output by the controller and to be in a follow-up state; meanwhile, the controller controls the auxiliary driving oil cylinder to provide power output; when the angle encoder detects that the swing angle passes through the mechanism dead point position, the controller controls the power output of the main driving oil cylinder; meanwhile, the controller controls the auxiliary driving oil cylinder to stop power output and is in a follow-up state.
As an optimization scheme of the invention: and a supporting device is fixed on the guide rail and used for carrying out auxiliary support.
The specific scheme is as follows: the supporting device comprises an outer supporting leg, an inner supporting leg, a supporting leg oil cylinder and a supporting wheel; the outer supporting leg is connected with the guide rail, and the inner supporting leg is embedded in the outer supporting leg; the upper hinge point of the supporting leg oil cylinder is connected with the outer supporting leg through a pin shaft, and the lower hinge point of the supporting leg oil cylinder is connected with the inner supporting leg through a pin shaft; the supporting wheels are arranged on the inner supporting legs, and the supporting oil cylinders extend out to push the supporting wheels to the ground during operation, so that a supporting effect is achieved.
The specific scheme is as follows: the amplitude variation mechanism comprises an amplitude variation oil cylinder and a four-bar mechanism; the pitch arm is connected with the cleaning machine through the four-bar mechanism, the amplitude-variable oil cylinder is connected between the pitch arm and the four-bar mechanism, and the four-bar mechanism is driven to rotate through the motion of the amplitude-variable oil cylinder, so that the cleaning machine is adjusted according to the use requirement.
As an optimization scheme of the invention: the four-bar mechanism comprises a bar I, a bar II, a bar III and a bar IV; the bottom of the rod III is fixedly connected with the support arm, the bottom of the rod IV is hinged with the top of the rod III, and the top of the rod IV is fixedly connected with a cleaning machine; one end of the rod I is hinged with the middle part of the rod IV, and the other end of the rod I is hinged with the amplitude-variable oil cylinder; one end of the rod II is hinged to the middle of the rod I, and the other end of the rod II is hinged to the rod III and is close to the hinged point of the rod IV and the rod III.
The preferable scheme is as follows: the chain is arranged on the sliding block and connected with a chain wheel arranged on the motor, and the chain wheel is driven to rotate through the rotation of the motor, so that the sliding block is dragged by the chain to move on the guide rail.
Compared with the prior art, the invention has the beneficial effects that:
1. the multi-degree of freedom and the flexibility are high, so that the cleaning machine can be ensured to be accurately attached to the wall surface to be cleaned, and the cleaning effect is ensured;
2. the structure is compact, the expansion space is small, and a larger cleaning area can be covered in a limited area;
3. the turnover of 180 degrees can be realized, the wall surfaces at the left side and the right side can be cleaned under the condition of not changing the driving direction of the vehicle, and the influence on the normal traffic of the road is reduced;
4. the stability is high, and wiper mechanism needs the operation of lifting, and the cantilever is longer, and auxiliary stay device can effectively balanced whole car bear, improves the operation stability, guarantees the safety of traveling.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention, are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without limiting the invention to the right. It is obvious that the drawings in the following description are only some embodiments, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
In the drawings:
FIG. 1 is a first structural schematic diagram of a multi-degree-of-freedom foldable boom device according to the present invention;
FIG. 2 is a second structural schematic diagram of the multi-degree-of-freedom foldable boom device of the present invention;
FIG. 3 is a first schematic structural view of a luffing mechanism of the present disclosure;
FIG. 4 is a structural schematic view of a second horn of the present invention;
FIG. 5 is a schematic structural diagram of a boom reversing mechanism of the present invention;
FIG. 6 is a partial view of a boom reversing mechanism of the present invention;
fig. 7 is a schematic structural diagram of the supporting device of the present invention.
It should be noted that the drawings and the description are not intended to limit the scope of the inventive concept in any way, but to illustrate it by a person skilled in the art with reference to specific embodiments.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and the following embodiments are used for illustrating the present invention and are not intended to limit the scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1 and 2, a multi-degree-of-freedom foldable boom device for wall surface cleaning comprises a knuckle boom, a luffing mechanism 3, a guide rail 4, a slide block 5, a lifting oil cylinder, a boom reversing mechanism 9 and a cleaning machine 10; the bottom of the knuckle arm is connected with an arm frame reversing mechanism 9, the lifting oil cylinder is connected between the arm frame reversing mechanism 9 and the knuckle arm, and the knuckle arm is driven by the lifting oil cylinder to perform attitude adjustment; one end of the amplitude variation mechanism 3 is connected with the knuckle arm, the other end of the amplitude variation mechanism is connected with the cleaning tool 10, and the cleaning tool 10 realizes angle adjustment through the amplitude variation mechanism 3; the sliding block 5 is arranged on the guide rail 4, and the sliding block 5 can horizontally slide on the guide rail 4; the arm frame reversing mechanism 9 is arranged on the sliding block 5, and under the action of the arm frame reversing mechanism 9, the angle adjustment of the cleaning machine 10 on the horizontal plane is realized.
The specific scheme is as follows: with continued reference to fig. 1 and 2, the knuckle arm is composed of a knuckle arm 1 and a knuckle arm 2, and the lifting oil cylinder is composed of a lifting oil cylinder I7 and a lifting oil cylinder II 8; the bottom of the first-section arm 1 is connected with an arm frame reversing mechanism 9, the lifting oil cylinder I7 is connected between the arm frame reversing mechanism 9 and the first-section arm 1, the bottom of the second-section arm 2 is connected with the top of the first-section arm 1, the lifting oil cylinder II 8 is connected between the first-section arm 1 and the second-section arm 2, and the first-section arm 1 and the second-section arm 2 are driven by the lifting oil cylinder I7 and the lifting oil cylinder II 8 to perform posture adjustment; one end of the amplitude variation mechanism 3 is connected with the two-section arm.
The specific scheme is as follows: as shown in fig. 5 and 6, the boom reversing mechanism includes a swing arm 91, a shaft 94, a main driving cylinder 92 and an auxiliary driving cylinder 93; the swing arm 91 is connected with a section arm 1, and the swing arm 91 is connected with a sliding block 5 through a shaft 94; the main driving oil cylinder 92 and the auxiliary driving oil cylinder 93 are respectively connected between the swing arm 91 and the slider 5, and the mechanism reaches a dead point position due to the fact that three hinge points are in the same straight line in the operation process, and at the moment, the auxiliary driving oil cylinder 93 is required to serve as an auxiliary power oil cylinder to carry out power output of the dead point position of the mechanism.
Further scheme: as shown with continued reference to fig. 5, an angle encoder 95 is mounted on the shaft 94 for detecting the rotation angle of the swing arm 91; the angle encoder 95 is electrically connected with the controller, the controller is electrically connected with the main driving oil cylinder 92 and the auxiliary driving oil cylinder 93 respectively, and the angle encoder 95 transmits the detected swing angle information to the controller so as to control the action sequence of the oil cylinders.
The whole control logic is as follows:
when the controller is set, recording the mechanism dead point position angle, when the angle encoder 95 detects the mechanism dead point position, the controller controls the main driving oil cylinder 92 not to output power any more, and the large cavity and the small cavity are communicated with the oil tank and are in a follow-up state; meanwhile, the controller controls the auxiliary driving oil cylinder 93 to provide power output; when the angle encoder 95 detects that the swing angle has passed the mechanism dead point position, the controller controls the power output of the main drive cylinder 92; meanwhile, the controller controls the auxiliary driving cylinder 93 to stop power output and to be in a follow-up state.
It should be noted that the action angle area of the main driving oil cylinder 92 is 0-85 degrees and 95-180 degrees; the action angle of the auxiliary driving oil cylinder 93 is 85-95 degrees.
From the above, the swing arm 91 adopts a double-cylinder driving mode, so that the dead point problem of the mechanism can be effectively solved, and the reversing process is stable and smooth; through increasing angle encoder in this position, real-time demonstration pendulum angle, will detect the angle and feed back to the controller, and then control hydro-cylinder action order, simple structure, easy maintenance.
As an optimization scheme of the invention: a support device 6 is fixed on the guide rail 4 for auxiliary support.
The specific scheme is as follows: as shown in fig. 7, the support device 6 includes an outer leg 61, an inner leg 62, a leg cylinder 64, and a support wheel 65; the outer supporting leg 61 is connected with the guide rail 4, and the inner supporting leg 62 is embedded in the outer supporting leg 61; the upper hinge point of the supporting leg oil cylinder 64 is connected with the outer supporting leg 61 through a pin shaft 63, and the lower hinge point of the supporting leg oil cylinder 64 is connected with the inner supporting leg 62 through a pin shaft 63; the supporting wheel 65 is arranged on the inner supporting leg 62, and the supporting leg oil cylinder 64 extends to push the supporting wheel 65 to the ground during operation, so that the supporting function is achieved.
As an optimization scheme of the invention: the supporting wheels 65 are hinged with the inner supporting legs 62 and can be adjusted along with the steering of the vehicle in the horizontal direction, so that the supporting wheels 65 are parallel to the driving direction, the abrasion is reduced, and the service life is prolonged.
The specific scheme is as follows: as shown in fig. 3 and 4, the luffing mechanism 3 includes a luffing cylinder 31 and a four-bar mechanism 32; the two-section arm 2 is connected with the cleaning machine 10 through a four-bar mechanism 32, the variable amplitude oil cylinder 31 is connected between the two-section arm 2 and the four-bar mechanism 32, and the four-bar mechanism 32 is driven to rotate through the movement of the variable amplitude oil cylinder 3, so that the cleaning machine 10 is adjusted according to use requirements.
As an optimization scheme of the invention: with continued reference to fig. 3 and 4, the four-bar linkage 32 includes a bar i 321, a bar ii 322, a bar iii 323, and a bar iv 324; the bottom of the rod III 323 is fixedly connected with the two support arms 2, the bottom of the rod IV 324 is hinged with the top of the rod III 323, and the top of the rod IV 324 is fixedly connected with the cleaning machine 10; one end of the rod I321 is hinged with the middle part of the rod IV 324, and the other end of the rod I321 is hinged with the amplitude-variable oil cylinder 31; one end of a rod II 322 is hinged with the middle part of the rod I321, and the other end of the rod II 322 is hinged with a rod III 323 and is close to the hinged point of the rod IV 324 and the rod III 323.
From the above, the rod iii 323 in the four-bar mechanism 32 is fixed to obtain a double-crank mechanism, which can realize large-angle rotation in a plane, thereby realizing adjustment of the cleaning tool 10 within 0-170 degrees according to the use requirement.
In the working process, attitude adjustment is carried out under the drive of lift cylinder I7, lift cylinder II 8 to one section arm 1, two sections arm 2, can realize cleaning machines 10 in level and vertical reverse position adjustment, slider 5 can realize the horizontal slip on guide rail 4, cleaning machines 10 accessible luffing mechanism 3 realizes angular adjustment, strutting arrangement 6 passes through bolted connection with guide rail 4, be used for carrying out auxiliary stay to whole device, guarantee the operation stability, under the effect of cantilever crane reversing mechanism 9, can realize cleaning machines 10 at the angular adjustment of horizontal plane, can realize 180 degrees upsets to the utmost. The invention has multiple degrees of freedom and high flexibility, can ensure that the cleaning machine can be accurately attached to the wall surface to be cleaned, and ensures the cleaning effect; the structure is compact, the expansion space is small, and a larger cleaning area can be covered in a limited area; the turnover of 180 degrees can be realized, the wall surfaces at the left side and the right side can be cleaned under the condition of not changing the driving direction of the vehicle, and the influence on the normal traffic of the road is reduced; the stability is high, and wiper mechanism needs the operation of lifting, and the cantilever is longer, and auxiliary stay device can effectively balanced whole car bear, improves the operation stability, guarantees the safety of traveling.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than others, combinations of features of different embodiments are also meant to be within the scope of the invention and form different embodiments. For example, in the above embodiments, those skilled in the art can use the combination according to the known technical solutions and technical problems to be solved by the present application.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. A multi-degree-of-freedom foldable arm support device for wall cleaning is characterized in that:
the cleaning machine comprises a knuckle boom, an amplitude variation mechanism, a guide rail, a slide block, a lifting oil cylinder, a boom reversing mechanism and a cleaning machine;
the bottom of the knuckle arm is connected with the arm support reversing mechanism, the lifting oil cylinder is connected between the arm support reversing mechanism and the knuckle arm, and the knuckle arm is driven by the lifting oil cylinder to perform attitude adjustment;
one end of the amplitude variation mechanism is connected with the knuckle arm, the other end of the amplitude variation mechanism is connected with the cleaning machine, and the cleaning machine realizes angle adjustment through the amplitude variation mechanism;
the sliding block is arranged on the guide rail and can horizontally slide on the guide rail;
the arm frame reversing mechanism is arranged on the sliding block, and under the action of the arm frame reversing mechanism, the angle adjustment of the cleaning machine on the horizontal plane is realized.
2. The multi-degree-of-freedom foldable arm support device for wall cleaning according to claim 1, characterized in that:
the joint arm consists of a first joint arm and a second joint arm, and the lifting oil cylinder consists of a lifting oil cylinder I and a lifting oil cylinder II;
the bottom of the first section of arm is connected with the arm frame reversing mechanism, the lifting oil cylinder I is connected between the arm frame reversing mechanism and the first section of arm, the bottom of the second section of arm is connected with the top of the first section of arm, the lifting oil cylinder II is connected between the first section of arm and the second section of arm, and the first section of arm and the second section of arm are driven by the lifting oil cylinder I and the lifting oil cylinder II to perform posture adjustment;
one end of the amplitude variation mechanism is connected with the two-section arm.
3. The multi-degree-of-freedom foldable arm support device for wall cleaning according to claim 1, characterized in that:
the arm support reversing mechanism comprises a swinging arm, a shaft, a main driving oil cylinder and an auxiliary driving oil cylinder;
the swing arm is connected with the knuckle arm and is connected with the sliding block through a shaft;
and the main driving oil cylinder and the auxiliary driving oil cylinder are respectively connected between the swing arm and the sliding block, and when the main driving oil cylinder moves to the mechanism dead point position, power output is continuously carried out through the auxiliary driving oil cylinder.
4. The multi-degree-of-freedom foldable arm support device for wall cleaning according to claim 3, characterized in that:
the shaft is provided with an angle encoder for detecting the rotation angle of the swinging arm;
the angle encoder is electrically connected with the controller, the controller is electrically connected with the main driving oil cylinder and the auxiliary driving oil cylinder respectively, and the angle encoder transmits the detected swing angle information to the controller so as to control the action sequence of the oil cylinders.
5. The multi-degree-of-freedom foldable arm support device for wall cleaning according to claim 4, characterized in that:
when the controller is set, recording the mechanism dead point position angle, and when the angle encoder detects the mechanism dead point position, controlling the main driving oil cylinder to stop power output by the controller and to be in a follow-up state; meanwhile, the controller controls the auxiliary driving oil cylinder to provide power output;
when the angle encoder detects that the swing angle passes through the mechanism dead point position, the controller controls the power output of the main driving oil cylinder; meanwhile, the controller controls the auxiliary driving oil cylinder to stop power output and is in a follow-up state.
6. The multi-degree-of-freedom foldable arm support device for wall cleaning according to claim 1, wherein:
and a supporting device is fixed on the guide rail and used for carrying out auxiliary support.
7. The multi-degree-of-freedom foldable arm support device for wall cleaning according to claim 6, wherein:
the supporting device comprises an outer supporting leg, an inner supporting leg, a supporting leg oil cylinder and a supporting wheel;
the outer supporting leg is connected with the guide rail, and the inner supporting leg is embedded in the outer supporting leg;
the upper hinge point of the supporting leg oil cylinder is connected with the outer supporting leg through a pin shaft, and the lower hinge point of the supporting leg oil cylinder is connected with the inner supporting leg through a pin shaft;
the supporting wheels are arranged on the inner supporting legs, and the supporting oil cylinders extend out to push the supporting wheels to the ground during operation, so that a supporting effect is achieved.
8. The multi-degree-of-freedom foldable arm support device for wall cleaning according to claim 1, characterized in that:
the amplitude variation mechanism comprises an amplitude variation oil cylinder and a four-bar mechanism;
the pitch arm is connected with the cleaning machine through the four-bar mechanism, the amplitude-variable oil cylinder is connected between the pitch arm and the four-bar mechanism, and the four-bar mechanism is driven to rotate through the motion of the amplitude-variable oil cylinder, so that the cleaning machine is adjusted according to the use requirement.
9. The multi-degree-of-freedom foldable arm support device for wall cleaning according to claim 8, wherein:
the four-bar mechanism comprises a bar I, a bar II, a bar III and a bar IV;
the bottom of the rod III is fixedly connected with the support arm, the bottom of the rod IV is hinged with the top of the rod III, and the top of the rod IV is fixedly connected with a cleaning machine;
one end of the rod I is hinged with the middle part of the rod IV, and the other end of the rod I is hinged with the amplitude-variable oil cylinder;
one end of the rod II is hinged to the middle of the rod I, and the other end of the rod II is hinged to the rod III and is close to the hinged point of the rod IV and the rod III.
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| CN202210384328.2A CN114457734A (en) | 2022-04-13 | 2022-04-13 | Multi-degree-of-freedom foldable arm support device for wall surface cleaning |
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| CN202210384328.2A CN114457734A (en) | 2022-04-13 | 2022-04-13 | Multi-degree-of-freedom foldable arm support device for wall surface cleaning |
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| JP2020029692A (en) * | 2018-08-22 | 2020-02-27 | 株式会社奥村組 | Tunnel cleaning method |
| CN110004857A (en) * | 2019-04-17 | 2019-07-12 | 白贵涛 | Tunnel cleaning vehicle |
| CN110562892A (en) * | 2019-07-29 | 2019-12-13 | 中船第九设计研究院工程有限公司 | Double-hydraulic combined turnover mechanism |
| CN110644549A (en) * | 2019-08-16 | 2020-01-03 | 黄河水利委员会黄河机械厂 | Ecological multifunctional vehicle for clearing algae mud on channel side slope |
| CN112900332A (en) * | 2021-04-26 | 2021-06-04 | 徐州徐工环境技术有限公司 | Front-back type wall cleaning vehicle |
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